Visual Servoing Platform  version 3.2.0 under development (2018-12-11)
servoPtu46Point2DArtVelocity.cpp

Example of eye-in-hand control law. We control here a real robot, the ptu-46 robot (pan-tilt head provided by Directed Perception). The velocity is computed in articular. The visual feature is the center of gravity of a point.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* tests the control law
* eye-in-hand control
* velocity computed in articular
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h> // Debug trace
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#include <unistd.h>
#endif
#include <signal.h>
#if (defined(VISP_HAVE_PTU46) & defined(VISP_HAVE_DC1394))
#ifdef VISP_HAVE_PTHREAD
#include <pthread.h>
#endif
#include <visp3/core/vpDisplay.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpPoint.h>
#include <visp3/visual_features/vpFeatureBuilder.h>
#include <visp3/visual_features/vpFeaturePoint.h>
#include <visp3/vs/vpServo.h>
#include <visp3/robot/vpRobotPtu46.h>
// Exception
#include <visp3/core/vpException.h>
#include <visp3/vs/vpServoDisplay.h>
#include <visp3/blob/vpDot2.h>
#ifdef VISP_HAVE_PTHREAD
pthread_mutex_t mutexEndLoop = PTHREAD_MUTEX_INITIALIZER;
#endif
void signalCtrC(int signumber)
{
(void)(signumber);
#ifdef VISP_HAVE_PTHREAD
pthread_mutex_unlock(&mutexEndLoop);
#endif
usleep(1000 * 10);
vpTRACE("Ctrl-C pressed...");
}
int main()
{
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << " Test program for vpServo " << std::endl;
std::cout << " Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
std::cout << " Simulation " << std::endl;
std::cout << " task : servo a point " << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << std::endl;
try {
#ifdef VISP_HAVE_PTHREAD
pthread_mutex_lock(&mutexEndLoop);
#endif
signal(SIGINT, &signalCtrC);
vpRobotPtu46 robot;
{
q = 0;
}
g.open(I);
try {
g.acquire(I);
} catch (...) {
vpERROR_TRACE(" Error caught");
return (-1);
}
vpDisplayX display(I, 100, 100, "testDisplayX.cpp ");
vpTRACE(" ");
try {
} catch (...) {
vpERROR_TRACE(" Error caught");
return (-1);
}
vpServo task;
vpDot2 dot;
try {
vpERROR_TRACE("start dot.initTracking(I) ");
dot.setCog(germ);
vpDEBUG_TRACE(25, "Click!");
// dot.initTracking(I) ;
dot.track(I);
vpERROR_TRACE("after dot.initTracking(I) ");
} catch (...) {
vpERROR_TRACE(" Error caught ");
return (-1);
}
vpTRACE("sets the current position of the visual feature ");
vpFeatureBuilder::create(p, cam, dot); // retrieve x,y and Z of the vpPoint structure
p.set_Z(1);
vpTRACE("sets the desired position of the visual feature ");
pd.buildFrom(0, 0, 1);
vpTRACE("define the task");
vpTRACE("\t we want an eye-in-hand control law");
vpTRACE("\t articular velocity are computed");
vpTRACE("Set the position of the camera in the end-effector frame ");
// robot.get_cMe(cMe) ;
robot.get_cVe(cVe);
std::cout << cVe << std::endl;
task.set_cVe(cVe);
vpTRACE("Set the Jacobian (expressed in the end-effector frame)");
vpMatrix eJe;
robot.get_eJe(eJe);
task.set_eJe(eJe);
vpTRACE("\t we want to see a point on a point..");
std::cout << std::endl;
task.addFeature(p, pd);
vpTRACE("\t set the gain");
task.setLambda(0.1);
vpTRACE("Display task information ");
task.print();
unsigned int iter = 0;
vpTRACE("\t loop");
#ifdef VISP_HAVE_PTHREAD
while (0 != pthread_mutex_trylock(&mutexEndLoop))
#else
for (;;)
#endif
{
std::cout << "---------------------------------------------" << iter << std::endl;
g.acquire(I);
dot.track(I);
// vpDisplay::displayCross(I,(int)dot.I(), (int)dot.J(),
// 10,vpColor::green) ;
// get the jacobian
robot.get_eJe(eJe);
task.set_eJe(eJe);
// std::cout << (vpMatrix)cVe*eJe << std::endl ;
v = task.computeControlLaw();
vpServoDisplay::display(task, cam, I);
std::cout << v.t();
vpTRACE("\t\t || s - s* || = %f ", (task.getError()).sumSquare());
}
vpTRACE("Display task information ");
task.print();
task.kill();
}
catch (const vpException &e) {
std::cout << "Sorry PtU46 not available. Got exception: " << e << std::endl;
return EXIT_FAILURE
}
return EXIT_SUCCESS;
}
#else
int main()
{
std::cout << "You do not have an PTU46 PT robot connected to your computer..." << std::endl;
}
#endif